Obstacle-Traversed Trajectory Planning for Autonomous Mining Trucks in Open Pit Mines

Trajectory planning for autonomous mining trucks is crucial for improving transportation efficiency and safety. Although current methods of bypassing obstacles to avoid collisions are well-established, they are inadequate for open pit scenarios because many small rockfalls and puddles may block most potential bypassing trajectories. Alternatively, methods with traversal maneuvers are proposed to generate a feasible path under this situation but fail to find the optimal solution by switching strategy. To address this problem, we propose an optimization-based trajectory planning method that simultaneously considers traversing and bypassing maneuvers to avoid collision. By es-tablishing the universal constraint of bypassing and traversing maneuvers in the local coordinate, we ensure the safety of the switching between the two behaviors on the entire trajectory. To balance safety and efficiency, collision avoidance constraints and cost function with total travel time are integrated into the same nonlinear optimization problem. This approach can achieve optimal results by adaptively bypassing or traversing obstacles of different sizes to minimize total travel time. Finally, two experiments demonstrated the method's superior transportation efficiency and safety.